论文标题
通过MPC，协调的运动控制和基于事件的障碍物 - 四轮独立运动驱动机器人系统
Coordinated Motion Control and Event-based Obstacle-crossing for Four Wheel-leg Independent Motor-driven Robotic System via MPC
论文作者
论文摘要
这项工作通过基于事件触发机制的模型预测控制（MPC）方法提供了四轮独立运动驱动的机器人系统的协调运动控制和障碍物横断问题。组织了具有动态支撑多边形的轮腿机器人控制系统的建模。系统动态模型是3个自由度（DOF），忽略了音高，滚动和垂直运动。考虑到电动机驱动的特性和Burckhardt非线性轮胎模型，对单轮动力进行了分析。结果，提出了一个用电动机作为输入和系统状态为输出的电动扭矩的过度驱动预测模型。由于仅在某些条件下调整了支持多边形，因此基于事件的触发机制旨在节省硬件资源和能源。在虚拟原型和物理原型上评估MPC控制器。模拟结果指导物理原型中控制器实现的参数调整。这两个原型的实验结果验证了所提出的方法的效率。
This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on an event-triggering mechanism. The modeling of a wheel-leg robotic control system with a dynamic supporting polygon is organized. The system dynamic model is 3 degrees of freedom (DOF) ignoring the pitch, roll and vertical motions. The single wheel dynamic is analyzed considering the characteristics of motor-driven and the Burckhardt nonlinear tire model. As a result, an over-actuated predictive model is proposed with the motor torques as inputs and the system states as outputs. As the supporting polygon is only adjusted at certain conditions, an event-based triggering mechanism is designed to save hardware resources and energy. The MPC controller is evaluated on a virtual prototype as well as a physical prototype. The simulation results guide the parameter tuning for the controller implementation in the physical prototype. The experimental results on these two prototypes verify the efficiency of the proposed approach.
